[Bug?] Incorrect IMU values


I have noticed some strange behaviour when checking calculated IMU data.

At high physics frequency (>= 200) and orientation close to 0, there is significant jitter in the acceleration values.
Below is the code I am using to alter rigid body motion.

# A callback run on each physics frame

Screenshot from 2022-08-29 13-41-11

Where scanner has the rigidbody.

This might be a case of the XY problem - for context, I am trying to move an object around a simulated scene, predefined path, and output sensor data (lidar, camera, imu) to ROS synchronized with simulation time. Would really appreciate some help!

Thanks for reporting! @mark.haoxiang
Will take a look and file a bug